Haptics Rendering

Haptic feedback involves direct physical interaction between a human and the haptic device. Therefore, particular importance must be attached to stable control. Violating stability may result in uncontrollable oscillations that make any reasonable interaction impossible, and moreover, can even harm the human operator. We research on stable haptic control, not only to understand the influence of involved system parameters, but rather to get the best out of our haptic devices and make the interaction with a virtual reality as realistic and effective as possible.

Fig.: Simulation for stability analysis of haptic systems

Fig.: Linear model used for analyzing stability

The fundamental stability analysis of haptic systems takes into account: